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<p>Pointer to the function to approximate in the scalar case.  
 <a href="structukf_1_1parameter_1_1ukf__scalar__state.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="ukf__types_8h_source.html">ukf_types.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a38805bd633ec390fdb6486bc7389ca57"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#a38805bd633ec390fdb6486bc7389ca57">Kk</a></td></tr>
<tr class="memdesc:a38805bd633ec390fdb6486bc7389ca57"><td class="mdescLeft">&#160;</td><td class="mdescRight">Kalman gain, a vector of size <img class="formulaInl" alt="$n$" src="form_18.png"/>.  <a href="#a38805bd633ec390fdb6486bc7389ca57">More...</a><br/></td></tr>
<tr class="separator:a38805bd633ec390fdb6486bc7389ca57"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af6086947a5a8f78a95aa3516e18c7294"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#af6086947a5a8f78a95aa3516e18c7294">Kk_mat</a></td></tr>
<tr class="memdesc:af6086947a5a8f78a95aa3516e18c7294"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary matrix for the kalman gain, a matrix of size <img class="formulaInl" alt="$(n,1)$" src="form_19.png"/>.  <a href="#af6086947a5a8f78a95aa3516e18c7294">More...</a><br/></td></tr>
<tr class="separator:af6086947a5a8f78a95aa3516e18c7294"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a69fb0e46993d5c5cbde4dee44e2c8f"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#a3a69fb0e46993d5c5cbde4dee44e2c8f">Kk_mat_T</a></td></tr>
<tr class="memdesc:a3a69fb0e46993d5c5cbde4dee44e2c8f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary matrix for the transpose of the kalman gain, a matrix of size <img class="formulaInl" alt="$(1,n)$" src="form_20.png"/>.  <a href="#a3a69fb0e46993d5c5cbde4dee44e2c8f">More...</a><br/></td></tr>
<tr class="separator:a3a69fb0e46993d5c5cbde4dee44e2c8f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:accb6e58e82a745f2292a5cb7ffef663d"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#accb6e58e82a745f2292a5cb7ffef663d">Pwdk</a></td></tr>
<tr class="memdesc:accb6e58e82a745f2292a5cb7ffef663d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Covariance of <img class="formulaInl" alt="$(w, d)$" src="form_21.png"/>: <img class="formulaInl" alt="$P_{w_k d_k}$" src="form_22.png"/>, of size <img class="formulaInl" alt="$n$" src="form_18.png"/>.  <a href="#accb6e58e82a745f2292a5cb7ffef663d">More...</a><br/></td></tr>
<tr class="separator:accb6e58e82a745f2292a5cb7ffef663d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aac9cf03ea34ad6cbe04c56143e16d38d"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#aac9cf03ea34ad6cbe04c56143e16d38d">Prrk</a></td></tr>
<tr class="memdesc:aac9cf03ea34ad6cbe04c56143e16d38d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Covariance of the evolution noise.  <a href="#aac9cf03ea34ad6cbe04c56143e16d38d">More...</a><br/></td></tr>
<tr class="separator:aac9cf03ea34ad6cbe04c56143e16d38d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5b8734c808816fa4535dbb596add9fa5"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#a5b8734c808816fa4535dbb596add9fa5">Peek</a></td></tr>
<tr class="memdesc:a5b8734c808816fa4535dbb596add9fa5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Covariance of the observation noise.  <a href="#a5b8734c808816fa4535dbb596add9fa5">More...</a><br/></td></tr>
<tr class="separator:a5b8734c808816fa4535dbb596add9fa5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7d0a7fe12af4c2f62856e39a04b837f3"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#a7d0a7fe12af4c2f62856e39a04b837f3">Pddk</a></td></tr>
<tr class="memdesc:a7d0a7fe12af4c2f62856e39a04b837f3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Covariance of the output.  <a href="#a7d0a7fe12af4c2f62856e39a04b837f3">More...</a><br/></td></tr>
<tr class="separator:a7d0a7fe12af4c2f62856e39a04b837f3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8c307cba37cbabda94b66ab911e14122"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#a8c307cba37cbabda94b66ab911e14122">w</a></td></tr>
<tr class="memdesc:a8c307cba37cbabda94b66ab911e14122"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameter vector, of size <img class="formulaInl" alt="$n$" src="form_18.png"/>.  <a href="#a8c307cba37cbabda94b66ab911e14122">More...</a><br/></td></tr>
<tr class="separator:a8c307cba37cbabda94b66ab911e14122"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1700b94e574aa8422d87f9ba6ecb9ac5"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#a1700b94e574aa8422d87f9ba6ecb9ac5">wk</a></td></tr>
<tr class="memdesc:a1700b94e574aa8422d87f9ba6ecb9ac5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary vector, holding a sigma-point.  <a href="#a1700b94e574aa8422d87f9ba6ecb9ac5">More...</a><br/></td></tr>
<tr class="separator:a1700b94e574aa8422d87f9ba6ecb9ac5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a76c3898aa1b1d0957f3d483e7bb738f4"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#a76c3898aa1b1d0957f3d483e7bb738f4">Pk</a></td></tr>
<tr class="memdesc:a76c3898aa1b1d0957f3d483e7bb738f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Covariance matrix of the parameters, of size <img class="formulaInl" alt="$(n,n)$" src="form_23.png"/>.  <a href="#a76c3898aa1b1d0957f3d483e7bb738f4">More...</a><br/></td></tr>
<tr class="separator:a76c3898aa1b1d0957f3d483e7bb738f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a07ddb2ac7ff30dbce761ffc75abf7c16"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#a07ddb2ac7ff30dbce761ffc75abf7c16">Sk</a></td></tr>
<tr class="memdesc:a07ddb2ac7ff30dbce761ffc75abf7c16"><td class="mdescLeft">&#160;</td><td class="mdescRight">Matrix holding the Cholesky decomposition of <img class="formulaInl" alt="$P_k$" src="form_24.png"/>, of size <img class="formulaInl" alt="$(n,n)$" src="form_23.png"/>.  <a href="#a07ddb2ac7ff30dbce761ffc75abf7c16">More...</a><br/></td></tr>
<tr class="separator:a07ddb2ac7ff30dbce761ffc75abf7c16"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a75661c414eec01eaea6912dd3518da94"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#a75661c414eec01eaea6912dd3518da94">cSk</a></td></tr>
<tr class="memdesc:a75661c414eec01eaea6912dd3518da94"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vector holding one column of Sk, of size <img class="formulaInl" alt="$n$" src="form_18.png"/>.  <a href="#a75661c414eec01eaea6912dd3518da94">More...</a><br/></td></tr>
<tr class="separator:a75661c414eec01eaea6912dd3518da94"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a031c486f1321fbbe7c7fd5b5f47f37e8"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#a031c486f1321fbbe7c7fd5b5f47f37e8">wm</a></td></tr>
<tr class="memdesc:a031c486f1321fbbe7c7fd5b5f47f37e8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Weights used to compute the mean of the sigma points' images.  <a href="#a031c486f1321fbbe7c7fd5b5f47f37e8">More...</a><br/></td></tr>
<tr class="separator:a031c486f1321fbbe7c7fd5b5f47f37e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a62efc5e8af8f11b1e149f59494b55725"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#a62efc5e8af8f11b1e149f59494b55725">wc</a></td></tr>
<tr class="memdesc:a62efc5e8af8f11b1e149f59494b55725"><td class="mdescLeft">&#160;</td><td class="mdescRight">Weights used to update the covariance matrices.  <a href="#a62efc5e8af8f11b1e149f59494b55725">More...</a><br/></td></tr>
<tr class="separator:a62efc5e8af8f11b1e149f59494b55725"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a620c64bdfb59efd6f265c3c4f2422b6b"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#a620c64bdfb59efd6f265c3c4f2422b6b">dk</a></td></tr>
<tr class="memdesc:a620c64bdfb59efd6f265c3c4f2422b6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary vector holding the image of the sigma points, of size <img class="formulaInl" alt="$nbSamples$" src="form_29.png"/>.  <a href="#a620c64bdfb59efd6f265c3c4f2422b6b">More...</a><br/></td></tr>
<tr class="separator:a620c64bdfb59efd6f265c3c4f2422b6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a45f5f1fa6e87cebe200fcf8eec39f314"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#a45f5f1fa6e87cebe200fcf8eec39f314">ino_dk</a></td></tr>
<tr class="memdesc:a45f5f1fa6e87cebe200fcf8eec39f314"><td class="mdescLeft">&#160;</td><td class="mdescRight">Innovation.  <a href="#a45f5f1fa6e87cebe200fcf8eec39f314">More...</a><br/></td></tr>
<tr class="separator:a45f5f1fa6e87cebe200fcf8eec39f314"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5f0278cb96be7b6e35fc7dc797017d9"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#ad5f0278cb96be7b6e35fc7dc797017d9">d_mean</a></td></tr>
<tr class="memdesc:ad5f0278cb96be7b6e35fc7dc797017d9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Variable holding the mean of the sigma points image.  <a href="#ad5f0278cb96be7b6e35fc7dc797017d9">More...</a><br/></td></tr>
<tr class="separator:ad5f0278cb96be7b6e35fc7dc797017d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1cadccc5a4ad055f778de024eb0ba206"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#a1cadccc5a4ad055f778de024eb0ba206">sigmaPoints</a></td></tr>
<tr class="memdesc:a1cadccc5a4ad055f778de024eb0ba206"><td class="mdescLeft">&#160;</td><td class="mdescRight">Matrix holding the sigma points in the columns, of size <img class="formulaInl" alt="$(n,nbSamples)$" src="form_30.png"/>.  <a href="#a1cadccc5a4ad055f778de024eb0ba206">More...</a><br/></td></tr>
<tr class="separator:a1cadccc5a4ad055f778de024eb0ba206"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1d47ad23b7280b0a73170d19628ecdde"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#a1d47ad23b7280b0a73170d19628ecdde">temp_n</a></td></tr>
<tr class="memdesc:a1d47ad23b7280b0a73170d19628ecdde"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary vector.  <a href="#a1d47ad23b7280b0a73170d19628ecdde">More...</a><br/></td></tr>
<tr class="separator:a1d47ad23b7280b0a73170d19628ecdde"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3cdfb50a225e11f42fa4efaa99e80e6b"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__scalar__state.html#a3cdfb50a225e11f42fa4efaa99e80e6b">temp_n_n</a></td></tr>
<tr class="memdesc:a3cdfb50a225e11f42fa4efaa99e80e6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary matrix.  <a href="#a3cdfb50a225e11f42fa4efaa99e80e6b">More...</a><br/></td></tr>
<tr class="separator:a3cdfb50a225e11f42fa4efaa99e80e6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Pointer to the function to approximate in the scalar case. </p>
<p>Structure holding the matrices manipulated by the statistical linearization in the scalar case </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example-001_8cc-example.html#_a1">example-001.cc</a>, <a class="el" href="example-002_8cc-example.html#_a1">example-002.cc</a>, <a class="el" href="example-003_8cc-example.html#_a3">example-003.cc</a>, and <a class="el" href="example-006_8cc-example.html#_a1">example-006.cc</a>.</dd>
</dl></div><h2 class="groupheader">Member Data Documentation</h2>
<a class="anchor" id="a75661c414eec01eaea6912dd3518da94"></a>
<div class="memitem">
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          <td class="memname">gsl_vector* ukf::parameter::ukf_scalar_state::cSk</td>
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</div><div class="memdoc">

<p>Vector holding one column of Sk, of size <img class="formulaInl" alt="$n$" src="form_18.png"/>. </p>

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          <td class="memname">double ukf::parameter::ukf_scalar_state::d_mean</td>
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<p>Variable holding the mean of the sigma points image. </p>

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          <td class="memname">gsl_vector* ukf::parameter::ukf_scalar_state::dk</td>
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<p>Temporary vector holding the image of the sigma points, of size <img class="formulaInl" alt="$nbSamples$" src="form_29.png"/>. </p>

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          <td class="memname">double ukf::parameter::ukf_scalar_state::ino_dk</td>
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<p>Innovation. </p>

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          <td class="memname">gsl_vector* ukf::parameter::ukf_scalar_state::Kk</td>
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<p>Kalman gain, a vector of size <img class="formulaInl" alt="$n$" src="form_18.png"/>. </p>

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<p>Temporary matrix for the kalman gain, a matrix of size <img class="formulaInl" alt="$(n,1)$" src="form_19.png"/>. </p>

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<p>Temporary matrix for the transpose of the kalman gain, a matrix of size <img class="formulaInl" alt="$(1,n)$" src="form_20.png"/>. </p>

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          <td class="memname">double ukf::parameter::ukf_scalar_state::Pddk</td>
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<p>Covariance of the output. </p>

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<p>Covariance of the observation noise. </p>

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<p>Covariance matrix of the parameters, of size <img class="formulaInl" alt="$(n,n)$" src="form_23.png"/>. </p>

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<a class="anchor" id="aac9cf03ea34ad6cbe04c56143e16d38d"></a>
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<p>Covariance of the evolution noise. </p>

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<p>Covariance of <img class="formulaInl" alt="$(w, d)$" src="form_21.png"/>: <img class="formulaInl" alt="$P_{w_k d_k}$" src="form_22.png"/>, of size <img class="formulaInl" alt="$n$" src="form_18.png"/>. </p>

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<p>Matrix holding the sigma points in the columns, of size <img class="formulaInl" alt="$(n,nbSamples)$" src="form_30.png"/>. </p>

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<p>Matrix holding the Cholesky decomposition of <img class="formulaInl" alt="$P_k$" src="form_24.png"/>, of size <img class="formulaInl" alt="$(n,n)$" src="form_23.png"/>. </p>

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<p>Temporary vector. </p>

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<p>Temporary matrix. </p>

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<p>Parameter vector, of size <img class="formulaInl" alt="$n$" src="form_18.png"/>. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example-001_8cc-example.html#a12">example-001.cc</a>, <a class="el" href="example-002_8cc-example.html#a12">example-002.cc</a>, <a class="el" href="example-003_8cc-example.html#a14">example-003.cc</a>, and <a class="el" href="example-006_8cc-example.html#a12">example-006.cc</a>.</dd>
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<p>Weights used to update the covariance matrices. </p>
<p><img class="formulaInl" alt="$wc_0 = \frac{\lambda}{n + \lambda} + (1 - \alpha^2 + \beta)$" src="form_27.png"/> <img class="formulaInl" alt="$wc_i = \frac{1}{2(n + \lambda)}$" src="form_28.png"/> </p>

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<p>Temporary vector, holding a sigma-point. </p>

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<p>Weights used to compute the mean of the sigma points' images. </p>
<p><img class="formulaInl" alt="$wm_0 = \frac{\lambda}{n + \lambda}$" src="form_25.png"/> <img class="formulaInl" alt="$wm_i = \frac{1}{2(n + \lambda)}$" src="form_26.png"/> </p>

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<hr/>The documentation for this struct was generated from the following file:<ul>
<li>/home/fix_jer/SVN/easykf_trunk/trunk/easykf-2.04/src/<a class="el" href="ukf__types_8h_source.html">ukf_types.h</a></li>
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